% Copyright 2020 Makani Technologies LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%      http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function [apparent_wind_body] = TransformPitotToBody(apparent_wind_pitot, dcm_b2p)
% TransformPitotToBody -- airspeed from pitot coordinates to body coordinates.
% apparent_wind_body = TransformPitotToBody(apparent_wind_pitot, dcm_p2b)
%
% Arguments-
%
% apparent_wind_pitot -- [3 x n] apparent wind vector in pitot coordinates [m/s]
% dcm_p2b             -- [3 x 3] transformation from body-to-pitot
%
% Output Values-
%
% apparent_wind_body -- [3 x n] apparent wind vector in body coordinates [m/s]
%

apparent_wind_body = dcm_b2p' * apparent_wind_pitot;